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ADD: quaternion based rotation

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This commit is contained in:
hydrogendeuteride
2025-11-30 01:24:28 +09:00
parent d09a79d47c
commit 637a83bf6f
6 changed files with 76 additions and 44 deletions
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36
src/core/types.h
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@@ -24,6 +24,37 @@
#include <glm/gtc/quaternion.hpp>
#include <glm/gtc/matrix_transform.hpp>
// Helper utilities for TRS (translation-rotation-scale) transforms using quaternions.
inline glm::mat4 make_trs_matrix(const glm::vec3 &translation,
const glm::quat &rotation,
const glm::vec3 &scale)
{
glm::mat4 tm = glm::translate(glm::mat4(1.0f), translation);
glm::mat4 rm = glm::mat4_cast(rotation);
glm::mat4 sm = glm::scale(glm::mat4(1.0f), scale);
return tm * rm * sm;
}
inline void decompose_trs_matrix(const glm::mat4 &m,
glm::vec3 &out_translation,
glm::quat &out_rotation,
glm::vec3 &out_scale)
{
out_translation = glm::vec3(m[3]);
glm::vec3 col0 = glm::vec3(m[0]);
glm::vec3 col1 = glm::vec3(m[1]);
glm::vec3 col2 = glm::vec3(m[2]);
out_scale = glm::vec3(glm::length(col0), glm::length(col1), glm::length(col2));
if (out_scale.x != 0.0f) col0 /= out_scale.x;
if (out_scale.y != 0.0f) col1 /= out_scale.y;
if (out_scale.z != 0.0f) col2 /= out_scale.z;
glm::mat3 rot_mat(col0, col1, col2);
out_rotation = glm::quat_cast(rot_mat);
}
#define VK_CHECK(x) \
do { \
@@ -169,10 +200,7 @@ struct Node : public IRenderable {
void updateLocalFromTRS()
{
glm::mat4 tm = glm::translate(glm::mat4(1.0f), translation);
glm::mat4 rm = glm::mat4_cast(rotation);
glm::mat4 sm = glm::scale(glm::mat4(1.0f), scale);
localTransform = tm * rm * sm;
localTransform = make_trs_matrix(translation, rotation, scale);
}
void setTRS(const glm::vec3 &t, const glm::quat &r, const glm::vec3 &s)

29
src/scene/camera.cpp
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@@ -38,10 +38,21 @@ void Camera::processSDLEvent(SDL_Event& e)
}
if (e.type == SDL_MOUSEMOTION && rmbDown) {
// Mouse right (xrel > 0) turns view right with -Z-forward
yaw += (float)e.motion.xrel * lookSensitivity; // axis = +Y
// Mouse up (yrel < 0) looks up with -Z-forward
pitch -= (float)e.motion.yrel * lookSensitivity;
// Convert mouse motion to incremental yaw/pitch angles.
float dx = static_cast<float>(e.motion.xrel) * lookSensitivity;
float dy = static_cast<float>(e.motion.yrel) * lookSensitivity;
// Mouse right (xrel > 0) turns view right with -Z-forward: yaw around +Y.
glm::quat yawRotation = glm::angleAxis(dx, glm::vec3 { 0.f, 1.f, 0.f });
// Mouse up (yrel < 0) looks up with -Z-forward: negative dy.
float pitchDelta = -dy;
// Pitch around the camera's local X (right) axis in world space.
glm::vec3 right = glm::rotate(orientation, glm::vec3 { 1.f, 0.f, 0.f });
glm::quat pitchRotation = glm::angleAxis(pitchDelta, glm::vec3(right));
// Apply yaw, then pitch, to the current orientation.
orientation = glm::normalize(pitchRotation * yawRotation * orientation);
}
if (e.type == SDL_MOUSEWHEEL) {
@@ -72,12 +83,6 @@ glm::mat4 Camera::getViewMatrix()
glm::mat4 Camera::getRotationMatrix()
{
// fairly typical FPS style camera. we join the pitch and yaw rotations into
// the final rotation matrix
glm::quat pitchRotation = glm::angleAxis(pitch, glm::vec3 { 1.f, 0.f, 0.f });
// Yaw around +Y keeps mouse-right -> turn-right with -Z-forward
glm::quat yawRotation = glm::angleAxis(yaw, glm::vec3 { 0.f, 1.f, 0.f });
return glm::toMat4(yawRotation) * glm::toMat4(pitchRotation);
// Use the stored quaternion orientation directly.
return glm::toMat4(orientation);
}

6
src/scene/camera.h
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@@ -9,10 +9,8 @@ class Camera {
public:
glm::vec3 velocity;
glm::vec3 position;
// vertical rotation
float pitch { 0.f };
// horizontal rotation
float yaw { 0.f };
// Orientation stored as a quaternion (local -> world).
glm::quat orientation { 1.0f, 0.0f, 0.0f, 0.0f };
// Movement/look tuning
float moveSpeed { 0.03f };

16
src/scene/vk_loader.cpp
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@@ -671,18 +671,10 @@ std::optional<std::shared_ptr<LoadedGLTF> > loadGltf(VulkanEngine *engine, std::
glm::mat4 m(1.0f);
memcpy(&m, matrix.data(), sizeof(matrix));
glm::vec3 t = glm::vec3(m[3]);
glm::vec3 col0 = glm::vec3(m[0]);
glm::vec3 col1 = glm::vec3(m[1]);
glm::vec3 col2 = glm::vec3(m[2]);
glm::vec3 s(glm::length(col0), glm::length(col1), glm::length(col2));
if (s.x != 0.0f) col0 /= s.x;
if (s.y != 0.0f) col1 /= s.y;
if (s.z != 0.0f) col2 /= s.z;
glm::mat3 rotMat(col0, col1, col2);
glm::quat r = glm::quat_cast(rotMat);
glm::vec3 t;
glm::quat r;
glm::vec3 s;
decompose_trs_matrix(m, t, r, s);
newNode->setTRS(t, r, s);
},
[&](fastgltf::Node::TRS transform) {

25
src/scene/vk_scene.cpp
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@@ -73,8 +73,7 @@ void SceneManager::init(EngineContext *context)
mainCamera.velocity = glm::vec3(0.f);
mainCamera.position = glm::vec3(30.f, -00.f, 85.f);
mainCamera.pitch = 0;
mainCamera.yaw = 0;
mainCamera.orientation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
sceneData.ambientColor = glm::vec4(0.1f, 0.1f, 0.1f, 1.0f);
sceneData.sunlightDirection = glm::vec4(-0.2f, -1.0f, -0.3f, 1.0f);
@@ -204,7 +203,8 @@ void SceneManager::update_scene()
{
mainDrawContext.gltfNodeLocalOverrides = nullptr;
}
inst.scene->Draw(inst.transform, mainDrawContext);
glm::mat4 instanceTransform = make_trs_matrix(inst.translation, inst.rotation, inst.scale);
inst.scene->Draw(instanceTransform, mainDrawContext);
mainDrawContext.gltfNodeLocalOverrides = nullptr;
tagOwner(RenderObject::OwnerType::GLTFInstance, kv.first, opaqueStart, transpStart);
}
@@ -216,6 +216,7 @@ void SceneManager::update_scene()
{
const MeshInstance &inst = kv.second;
if (!inst.mesh || inst.mesh->surfaces.empty()) continue;
glm::mat4 instanceTransform = make_trs_matrix(inst.translation, inst.rotation, inst.scale);
uint32_t surfaceIndex = 0;
for (const auto &surf: inst.mesh->surfaces)
{
@@ -231,7 +232,7 @@ void SceneManager::update_scene()
{
obj.bounds.type = *inst.boundsTypeOverride;
}
obj.transform = inst.transform;
obj.transform = instanceTransform;
obj.sourceMesh = inst.mesh.get();
obj.surfaceIndex = surfaceIndex++;
obj.objectID = mainDrawContext.nextID++;
@@ -429,7 +430,7 @@ void SceneManager::addMeshInstance(const std::string &name, std::shared_ptr<Mesh
if (!mesh) return;
MeshInstance inst{};
inst.mesh = std::move(mesh);
inst.transform = transform;
decompose_trs_matrix(transform, inst.translation, inst.rotation, inst.scale);
inst.boundsTypeOverride = boundsType;
dynamicMeshInstances[name] = std::move(inst);
}
@@ -441,7 +442,8 @@ bool SceneManager::getMeshInstanceTransform(const std::string &name, glm::mat4 &
{
return false;
}
outTransform = it->second.transform;
const MeshInstance &inst = it->second;
outTransform = make_trs_matrix(inst.translation, inst.rotation, inst.scale);
return true;
}
@@ -452,7 +454,8 @@ bool SceneManager::setMeshInstanceTransform(const std::string &name, const glm::
{
return false;
}
it->second.transform = transform;
MeshInstance &inst = it->second;
decompose_trs_matrix(transform, inst.translation, inst.rotation, inst.scale);
return true;
}
@@ -475,7 +478,7 @@ void SceneManager::addGLTFInstance(const std::string &name, std::shared_ptr<Load
scene->debugName.empty() ? "<unnamed>" : scene->debugName.c_str());
GLTFInstance inst{};
inst.scene = std::move(scene);
inst.transform = transform;
decompose_trs_matrix(transform, inst.translation, inst.rotation, inst.scale);
if (inst.scene && !inst.scene->animations.empty())
{
inst.animation.activeAnimation = 0;
@@ -519,7 +522,8 @@ bool SceneManager::getGLTFInstanceTransform(const std::string &name, glm::mat4 &
{
return false;
}
outTransform = it->second.transform;
const GLTFInstance &inst = it->second;
outTransform = make_trs_matrix(inst.translation, inst.rotation, inst.scale);
return true;
}
@@ -527,7 +531,8 @@ bool SceneManager::setGLTFInstanceTransform(const std::string &name, const glm::
{
auto it = dynamicGLTFInstances.find(name);
if (it == dynamicGLTFInstances.end()) return false;
it->second.transform = transform;
GLTFInstance &inst = it->second;
decompose_trs_matrix(transform, inst.translation, inst.rotation, inst.scale);
return true;
}

8
src/scene/vk_scene.h
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@@ -91,7 +91,9 @@ public:
struct MeshInstance
{
std::shared_ptr<MeshAsset> mesh;
glm::mat4 transform{1.f};
glm::vec3 translation{0.0f, 0.0f, 0.0f};
glm::quat rotation{1.0f, 0.0f, 0.0f, 0.0f};
glm::vec3 scale{1.0f, 1.0f, 1.0f};
std::optional<BoundsType> boundsTypeOverride;
};
@@ -107,7 +109,9 @@ public:
struct GLTFInstance
{
std::shared_ptr<LoadedGLTF> scene;
glm::mat4 transform{1.f};
glm::vec3 translation{0.0f, 0.0f, 0.0f};
glm::quat rotation{1.0f, 0.0f, 0.0f, 0.0f};
glm::vec3 scale{1.0f, 1.0f, 1.0f};
LoadedGLTF::AnimationState animation;
// Per-instance local-space pose offsets for nodes in this glTF scene.
// The offset matrix is post-multiplied onto the node's localTransform.